1 citations · 4 across the 6 of their papers we have counts for
4 papers · 1 filter
Safe Online Gain Optimization for Variable Impedance Control
Changhao Wang, Zhian Kuang, Xiang Zhang +1
Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-dampin…
Development of Soft Tactile Sensor for Force Measurement and Position Detection
Wu-Te Yang, Zhian Kuang, Changhao Wang +1
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors a…
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks
Xiang Zhang, Liting Sun, Zhian Kuang +1
Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and enviro…
Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators
Zhian Kuang, Xiang Zhang, Liting Sun +2
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most m…